<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.01 Transitional//EN" "http://www.w3.org/TR/html4/loose.dtd">
<html lang="en">
<head>
<title>Source code</title>
<link rel="stylesheet" type="text/css" href="../../../../stylesheet.css" title="Style">
</head>
<body>
<div class="sourceContainer">
<pre><span class="sourceLineNo">001</span>package frc3128.HardwareLink.Controller;<a name="line.1"></a>
<span class="sourceLineNo">002</span><a name="line.2"></a>
<span class="sourceLineNo">003</span>import edu.wpi.first.wpilibj.Joystick;<a name="line.3"></a>
<span class="sourceLineNo">004</span>import frc3128.EventManager.Event;<a name="line.4"></a>
<span class="sourceLineNo">005</span>import frc3128.EventManager.ListenerConst;<a name="line.5"></a>
<span class="sourceLineNo">006</span>import frc3128.EventManager.ListenerManager;<a name="line.6"></a>
<span class="sourceLineNo">007</span>import frc3128.Util.DebugLog;<a name="line.7"></a>
<span class="sourceLineNo">008</span><a name="line.8"></a>
<span class="sourceLineNo">009</span>/**<a name="line.9"></a>
<span class="sourceLineNo">010</span> * <a name="line.10"></a>
<span class="sourceLineNo">011</span> * @author Noah Sutton-Smolin<a name="line.11"></a>
<span class="sourceLineNo">012</span> */<a name="line.12"></a>
<span class="sourceLineNo">013</span>public class XControl extends Event {<a name="line.13"></a>
<span class="sourceLineNo">014</span>    private Joystick xControl;<a name="line.14"></a>
<span class="sourceLineNo">015</span>    private final int port;<a name="line.15"></a>
<span class="sourceLineNo">016</span>    public double x1, y1, x2, y2, triggers;<a name="line.16"></a>
<span class="sourceLineNo">017</span>    private boolean[] buttonsPressed = {false, false, false, false, false, false, false, false, false, false, false};<a name="line.17"></a>
<span class="sourceLineNo">018</span>    <a name="line.18"></a>
<span class="sourceLineNo">019</span>    /**<a name="line.19"></a>
<span class="sourceLineNo">020</span>     * Instantiates a new XBox controller and starts an Event for updates.<a name="line.20"></a>
<span class="sourceLineNo">021</span>     * <a name="line.21"></a>
<span class="sourceLineNo">022</span>     * @param port the port of the controller<a name="line.22"></a>
<span class="sourceLineNo">023</span>     */<a name="line.23"></a>
<span class="sourceLineNo">024</span>    public XControl(int port) {<a name="line.24"></a>
<span class="sourceLineNo">025</span>        this.port = port;<a name="line.25"></a>
<span class="sourceLineNo">026</span>        xControl = new Joystick(port);<a name="line.26"></a>
<span class="sourceLineNo">027</span>        this.registerIterableEvent();<a name="line.27"></a>
<span class="sourceLineNo">028</span>        DebugLog.log(DebugLog.LVL_DEBUG, this, "XBox Controller added self to event manager!");<a name="line.28"></a>
<span class="sourceLineNo">029</span>    }<a name="line.29"></a>
<span class="sourceLineNo">030</span><a name="line.30"></a>
<span class="sourceLineNo">031</span>    /**<a name="line.31"></a>
<span class="sourceLineNo">032</span>     * This function will be called automatically by the EventManager.&lt;p&gt;&lt;b&gt;Do<a name="line.32"></a>
<span class="sourceLineNo">033</span>     * not invoke it.&lt;/b&gt;<a name="line.33"></a>
<span class="sourceLineNo">034</span>     */<a name="line.34"></a>
<span class="sourceLineNo">035</span>    public void execute() {<a name="line.35"></a>
<span class="sourceLineNo">036</span>        boolean updateJoy1 = false;<a name="line.36"></a>
<span class="sourceLineNo">037</span>        boolean updateJoy2 = false;<a name="line.37"></a>
<span class="sourceLineNo">038</span>        boolean updateTriggers = false;<a name="line.38"></a>
<span class="sourceLineNo">039</span><a name="line.39"></a>
<span class="sourceLineNo">040</span>        if(x1 != xControl.getRawAxis(XControlMap.X1_AXIS)) updateJoy1 = true;<a name="line.40"></a>
<span class="sourceLineNo">041</span>        if(x2 != xControl.getRawAxis(XControlMap.X2_AXIS)) updateJoy2 = true;<a name="line.41"></a>
<span class="sourceLineNo">042</span>        if(y1 != xControl.getRawAxis(XControlMap.Y1_AXIS)) updateJoy1 = true;<a name="line.42"></a>
<span class="sourceLineNo">043</span>        if(y2 != xControl.getRawAxis(XControlMap.Y2_AXIS)) updateJoy2 = true;<a name="line.43"></a>
<span class="sourceLineNo">044</span>        if(triggers != xControl.getRawAxis(XControlMap.TRIGGER_AXIS)) updateTriggers = true;<a name="line.44"></a>
<span class="sourceLineNo">045</span><a name="line.45"></a>
<span class="sourceLineNo">046</span>        x1 = xControl.getRawAxis(XControlMap.X1_AXIS);<a name="line.46"></a>
<span class="sourceLineNo">047</span>        x2 = xControl.getRawAxis(XControlMap.X2_AXIS);<a name="line.47"></a>
<span class="sourceLineNo">048</span>        y1 = xControl.getRawAxis(XControlMap.Y1_AXIS);<a name="line.48"></a>
<span class="sourceLineNo">049</span>        y2 = xControl.getRawAxis(XControlMap.Y2_AXIS);<a name="line.49"></a>
<span class="sourceLineNo">050</span><a name="line.50"></a>
<span class="sourceLineNo">051</span>        if(updateJoy1) ListenerManager.callListener("updateJoy1");<a name="line.51"></a>
<span class="sourceLineNo">052</span>        if(updateJoy2) ListenerManager.callListener("updateJoy2");<a name="line.52"></a>
<span class="sourceLineNo">053</span>        if(updateTriggers) ListenerManager.callListener("updateTriggers");<a name="line.53"></a>
<span class="sourceLineNo">054</span>        if(updateJoy1 || updateJoy2 || updateTriggers) ListenerManager.callListener("updateDrive");<a name="line.54"></a>
<span class="sourceLineNo">055</span><a name="line.55"></a>
<span class="sourceLineNo">056</span>        for(int i = 1; i &lt; 11; i++) {<a name="line.56"></a>
<span class="sourceLineNo">057</span>            if(buttonsPressed[i] != xControl.getRawButton(i)) {<a name="line.57"></a>
<span class="sourceLineNo">058</span>                ListenerManager.callListener(ListenerConst.getXCtrlListenerKey(port, i, (xControl.getRawButton(i) ? true : false)));<a name="line.58"></a>
<span class="sourceLineNo">059</span>                DebugLog.log(DebugLog.LVL_STREAM, this, "Button " + XControlMap.getBtnString(i) + (xControl.getRawButton(i)==true?" pressed.":" released."));<a name="line.59"></a>
<span class="sourceLineNo">060</span>            }<a name="line.60"></a>
<span class="sourceLineNo">061</span>            buttonsPressed[i] = xControl.getRawButton(i);<a name="line.61"></a>
<span class="sourceLineNo">062</span>        }<a name="line.62"></a>
<span class="sourceLineNo">063</span>    }<a name="line.63"></a>
<span class="sourceLineNo">064</span>}<a name="line.64"></a>




























































</pre>
</div>
</body>
</html>
